3 * Copyright (C) 2011-2014 Bernd Porr, mail@berndporr.me.uk
5 * This program is free software; you can redistribute it and/or modify
6 * it under the terms of the GNU General Public License as published by
7 * the Free Software Foundation; either version 2 of the License, or
8 * (at your option) any later version.
10 * This program is distributed in the hope that it will be useful,
11 * but WITHOUT ANY WARRANTY; without even the implied warranty of
12 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
13 * GNU General Public License for more details.
18 * Description: University of Stirling USB DAQ & INCITE Technology Limited
19 * Devices: [ITL] USB-DUX-SIGMA (usbduxsigma)
20 * Author: Bernd Porr <mail@berndporr.me.uk>
21 * Updated: 10 Oct 2014
26 * I must give credit here to Chris Baugher who
27 * wrote the driver for AT-MIO-16d. I used some parts of this
28 * driver. I also must give credits to David Brownell
29 * who supported me with the USB development.
31 * Note: the raw data from the A/D converter is 24 bit big endian
32 * anything else is little endian to/from the dux board
36 * 0.1: initial version
37 * 0.2: all basic functions implemented, digital I/O only for one port
38 * 0.3: proper vendor ID and driver name
39 * 0.4: fixed D/A voltage range
40 * 0.5: various bug fixes, health check at startup
41 * 0.6: corrected wrong input range
44 #include <linux/kernel.h>
45 #include <linux/module.h>
46 #include <linux/slab.h>
47 #include <linux/input.h>
48 #include <linux/fcntl.h>
49 #include <linux/compiler.h>
50 #include <asm/unaligned.h>
52 #include "../comedi_usb.h"
54 /* timeout for the USB-transfer in ms*/
55 #define BULK_TIMEOUT 1000
57 /* constants for "firmware" upload and download */
58 #define FIRMWARE "usbduxsigma_firmware.bin"
59 #define FIRMWARE_MAX_LEN 0x4000
60 #define USBDUXSUB_FIRMWARE 0xa0
61 #define VENDOR_DIR_IN 0xc0
62 #define VENDOR_DIR_OUT 0x40
64 /* internal addresses of the 8051 processor */
65 #define USBDUXSUB_CPUCS 0xE600
67 /* 300Hz max frequ under PWM */
68 #define MIN_PWM_PERIOD ((long)(1E9/300))
70 /* Default PWM frequency */
71 #define PWM_DEFAULT_PERIOD ((long)(1E9/100))
73 /* Number of channels (16 AD and offset)*/
74 #define NUMCHANNELS 16
76 /* Size of one A/D value */
77 #define SIZEADIN ((sizeof(uint32_t)))
80 * Size of the async input-buffer IN BYTES, the DIO state is transmitted
83 #define SIZEINBUF (((NUMCHANNELS+1)*SIZEADIN))
86 #define SIZEINSNBUF 16
88 /* Number of DA channels */
89 #define NUMOUTCHANNELS 8
91 /* size of one value for the D/A converter: channel and value */
92 #define SIZEDAOUT ((sizeof(uint8_t)+sizeof(uint16_t)))
95 * Size of the output-buffer in bytes
96 * Actually only the first 4 triplets are used but for the
97 * high speed mode we need to pad it to 8 (microframes).
99 #define SIZEOUTBUF ((8*SIZEDAOUT))
102 * Size of the buffer for the dux commands: just now max size is determined
103 * by the analogue out + command byte + panic bytes...
105 #define SIZEOFDUXBUFFER ((8*SIZEDAOUT+2))
107 /* Number of in-URBs which receive the data: min=2 */
108 #define NUMOFINBUFFERSFULL 5
110 /* Number of out-URBs which send the data: min=2 */
111 #define NUMOFOUTBUFFERSFULL 5
113 /* Number of in-URBs which receive the data: min=5 */
114 /* must have more buffers due to buggy USB ctr */
115 #define NUMOFINBUFFERSHIGH 10
117 /* Number of out-URBs which send the data: min=5 */
118 /* must have more buffers due to buggy USB ctr */
119 #define NUMOFOUTBUFFERSHIGH 10
121 /* number of retries to get the right dux command */
124 /* bulk transfer commands to usbduxsigma */
125 #define USBBUXSIGMA_AD_CMD 0
126 #define USBDUXSIGMA_DA_CMD 1
127 #define USBDUXSIGMA_DIO_CFG_CMD 2
128 #define USBDUXSIGMA_DIO_BITS_CMD 3
129 #define USBDUXSIGMA_SINGLE_AD_CMD 4
130 #define USBDUXSIGMA_PWM_ON_CMD 7
131 #define USBDUXSIGMA_PWM_OFF_CMD 8
133 static const struct comedi_lrange usbduxsigma_ai_range = {
135 BIP_RANGE(2.5 * 0x800000 / 0x780000 / 2.0)
139 struct usbduxsigma_private {
140 /* actual number of in-buffers */
142 /* actual number of out-buffers */
144 /* ISO-transfer handling: buffers */
145 struct urb **ai_urbs;
146 struct urb **ao_urbs;
147 /* pwm-transfer handling */
150 unsigned int pwm_period;
151 /* PWM internal delay for the GPIF in the FX2 */
153 /* size of the PWM buffer which holds the bit pattern */
155 /* input buffer for the ISO-transfer */
157 /* input buffer for single insn */
160 unsigned high_speed:1;
161 unsigned ai_cmd_running:1;
162 unsigned ao_cmd_running:1;
163 unsigned pwm_cmd_running:1;
165 /* time between samples in units of the timer */
166 unsigned int ai_timer;
167 unsigned int ao_timer;
168 /* counter between acquisitions */
169 unsigned int ai_counter;
170 unsigned int ao_counter;
171 /* interval in frames/uframes */
172 unsigned int ai_interval;
174 uint8_t *dux_commands;
175 struct semaphore sem;
178 static void usbduxsigma_unlink_urbs(struct urb **urbs, int num_urbs)
182 for (i = 0; i < num_urbs; i++)
183 usb_kill_urb(urbs[i]);
186 static void usbduxsigma_ai_stop(struct comedi_device *dev, int do_unlink)
188 struct usbduxsigma_private *devpriv = dev->private;
190 if (do_unlink && devpriv->ai_urbs)
191 usbduxsigma_unlink_urbs(devpriv->ai_urbs, devpriv->n_ai_urbs);
193 devpriv->ai_cmd_running = 0;
196 static int usbduxsigma_ai_cancel(struct comedi_device *dev,
197 struct comedi_subdevice *s)
199 struct usbduxsigma_private *devpriv = dev->private;
202 /* unlink only if it is really running */
203 usbduxsigma_ai_stop(dev, devpriv->ai_cmd_running);
209 static void usbduxsigma_ai_handle_urb(struct comedi_device *dev,
210 struct comedi_subdevice *s,
213 struct usbduxsigma_private *devpriv = dev->private;
214 struct comedi_async *async = s->async;
215 struct comedi_cmd *cmd = &async->cmd;
220 devpriv->ai_counter--;
221 if (devpriv->ai_counter == 0) {
222 devpriv->ai_counter = devpriv->ai_timer;
224 /* get the data from the USB bus and hand it over to comedi */
225 for (i = 0; i < cmd->chanlist_len; i++) {
226 /* transfer data, note first byte is the DIO state */
227 val = be32_to_cpu(devpriv->in_buf[i+1]);
228 val &= 0x00ffffff; /* strip status byte */
229 val ^= 0x00800000; /* convert to unsigned */
231 if (!comedi_buf_write_samples(s, &val, 1))
235 if (cmd->stop_src == TRIG_COUNT &&
236 async->scans_done >= cmd->stop_arg)
237 async->events |= COMEDI_CB_EOA;
240 /* if command is still running, resubmit urb */
241 if (!(async->events & COMEDI_CB_CANCEL_MASK)) {
242 urb->dev = comedi_to_usb_dev(dev);
243 ret = usb_submit_urb(urb, GFP_ATOMIC);
245 dev_err(dev->class_dev, "urb resubmit failed (%d)\n",
247 if (ret == -EL2NSYNC)
248 dev_err(dev->class_dev,
249 "buggy USB host controller or bug in IRQ handler\n");
250 async->events |= COMEDI_CB_ERROR;
255 static void usbduxsigma_ai_urb_complete(struct urb *urb)
257 struct comedi_device *dev = urb->context;
258 struct usbduxsigma_private *devpriv = dev->private;
259 struct comedi_subdevice *s = dev->read_subdev;
260 struct comedi_async *async = s->async;
262 /* exit if not running a command, do not resubmit urb */
263 if (!devpriv->ai_cmd_running)
266 switch (urb->status) {
268 /* copy the result in the transfer buffer */
269 memcpy(devpriv->in_buf, urb->transfer_buffer, SIZEINBUF);
270 usbduxsigma_ai_handle_urb(dev, s, urb);
275 * error in the ISOchronous data
276 * we don't copy the data into the transfer buffer
277 * and recycle the last data byte
279 dev_dbg(dev->class_dev, "CRC error in ISO IN stream\n");
280 usbduxsigma_ai_handle_urb(dev, s, urb);
287 /* happens after an unlink command */
288 async->events |= COMEDI_CB_ERROR;
293 dev_err(dev->class_dev, "non-zero urb status (%d)\n",
295 async->events |= COMEDI_CB_ERROR;
300 * comedi_handle_events() cannot be used in this driver. The (*cancel)
301 * operation would unlink the urb.
303 if (async->events & COMEDI_CB_CANCEL_MASK)
304 usbduxsigma_ai_stop(dev, 0);
306 comedi_event(dev, s);
309 static void usbduxsigma_ao_stop(struct comedi_device *dev, int do_unlink)
311 struct usbduxsigma_private *devpriv = dev->private;
313 if (do_unlink && devpriv->ao_urbs)
314 usbduxsigma_unlink_urbs(devpriv->ao_urbs, devpriv->n_ao_urbs);
316 devpriv->ao_cmd_running = 0;
319 static int usbduxsigma_ao_cancel(struct comedi_device *dev,
320 struct comedi_subdevice *s)
322 struct usbduxsigma_private *devpriv = dev->private;
325 /* unlink only if it is really running */
326 usbduxsigma_ao_stop(dev, devpriv->ao_cmd_running);
332 static void usbduxsigma_ao_handle_urb(struct comedi_device *dev,
333 struct comedi_subdevice *s,
336 struct usbduxsigma_private *devpriv = dev->private;
337 struct comedi_async *async = s->async;
338 struct comedi_cmd *cmd = &async->cmd;
343 devpriv->ao_counter--;
344 if (devpriv->ao_counter == 0) {
345 devpriv->ao_counter = devpriv->ao_timer;
347 if (cmd->stop_src == TRIG_COUNT &&
348 async->scans_done >= cmd->stop_arg) {
349 async->events |= COMEDI_CB_EOA;
353 /* transmit data to the USB bus */
354 datap = urb->transfer_buffer;
355 *datap++ = cmd->chanlist_len;
356 for (i = 0; i < cmd->chanlist_len; i++) {
357 unsigned int chan = CR_CHAN(cmd->chanlist[i]);
360 if (!comedi_buf_read_samples(s, &val, 1)) {
361 dev_err(dev->class_dev, "buffer underflow\n");
362 async->events |= COMEDI_CB_OVERFLOW;
368 s->readback[chan] = val;
372 /* if command is still running, resubmit urb */
373 if (!(async->events & COMEDI_CB_CANCEL_MASK)) {
374 urb->transfer_buffer_length = SIZEOUTBUF;
375 urb->dev = comedi_to_usb_dev(dev);
377 if (devpriv->high_speed)
378 urb->interval = 8; /* uframes */
380 urb->interval = 1; /* frames */
381 urb->number_of_packets = 1;
382 urb->iso_frame_desc[0].offset = 0;
383 urb->iso_frame_desc[0].length = SIZEOUTBUF;
384 urb->iso_frame_desc[0].status = 0;
385 ret = usb_submit_urb(urb, GFP_ATOMIC);
387 dev_err(dev->class_dev, "urb resubmit failed (%d)\n",
389 if (ret == -EL2NSYNC)
390 dev_err(dev->class_dev,
391 "buggy USB host controller or bug in IRQ handler\n");
392 async->events |= COMEDI_CB_ERROR;
397 static void usbduxsigma_ao_urb_complete(struct urb *urb)
399 struct comedi_device *dev = urb->context;
400 struct usbduxsigma_private *devpriv = dev->private;
401 struct comedi_subdevice *s = dev->write_subdev;
402 struct comedi_async *async = s->async;
404 /* exit if not running a command, do not resubmit urb */
405 if (!devpriv->ao_cmd_running)
408 switch (urb->status) {
410 usbduxsigma_ao_handle_urb(dev, s, urb);
417 /* happens after an unlink command */
418 async->events |= COMEDI_CB_ERROR;
423 dev_err(dev->class_dev, "non-zero urb status (%d)\n",
425 async->events |= COMEDI_CB_ERROR;
430 * comedi_handle_events() cannot be used in this driver. The (*cancel)
431 * operation would unlink the urb.
433 if (async->events & COMEDI_CB_CANCEL_MASK)
434 usbduxsigma_ao_stop(dev, 0);
436 comedi_event(dev, s);
439 static int usbduxsigma_submit_urbs(struct comedi_device *dev,
440 struct urb **urbs, int num_urbs,
443 struct usb_device *usb = comedi_to_usb_dev(dev);
444 struct usbduxsigma_private *devpriv = dev->private;
449 /* Submit all URBs and start the transfer on the bus */
450 for (i = 0; i < num_urbs; i++) {
453 /* in case of a resubmission after an unlink... */
455 urb->interval = devpriv->ai_interval;
459 urb->transfer_flags = URB_ISO_ASAP;
461 ret = usb_submit_urb(urb, GFP_ATOMIC);
468 static int usbduxsigma_chans_to_interval(int num_chan)
477 static int usbduxsigma_ai_cmdtest(struct comedi_device *dev,
478 struct comedi_subdevice *s,
479 struct comedi_cmd *cmd)
481 struct usbduxsigma_private *devpriv = dev->private;
482 int high_speed = devpriv->high_speed;
483 int interval = usbduxsigma_chans_to_interval(cmd->chanlist_len);
486 /* Step 1 : check if triggers are trivially valid */
488 err |= comedi_check_trigger_src(&cmd->start_src, TRIG_NOW | TRIG_INT);
489 err |= comedi_check_trigger_src(&cmd->scan_begin_src, TRIG_TIMER);
490 err |= comedi_check_trigger_src(&cmd->convert_src, TRIG_NOW);
491 err |= comedi_check_trigger_src(&cmd->scan_end_src, TRIG_COUNT);
492 err |= comedi_check_trigger_src(&cmd->stop_src, TRIG_COUNT | TRIG_NONE);
497 /* Step 2a : make sure trigger sources are unique */
499 err |= comedi_check_trigger_is_unique(cmd->start_src);
500 err |= comedi_check_trigger_is_unique(cmd->stop_src);
502 /* Step 2b : and mutually compatible */
507 /* Step 3: check if arguments are trivially valid */
509 err |= comedi_check_trigger_arg_is(&cmd->start_arg, 0);
511 if (cmd->scan_begin_src == TRIG_FOLLOW) /* internal trigger */
512 err |= comedi_check_trigger_arg_is(&cmd->scan_begin_arg, 0);
514 if (cmd->scan_begin_src == TRIG_TIMER) {
519 * In high speed mode microframes are possible.
520 * However, during one microframe we can roughly
521 * sample two channels. Thus, the more channels
522 * are in the channel list the more time we need.
524 err |= comedi_check_trigger_arg_min(&cmd->
529 tmp = (cmd->scan_begin_arg / 125000) * 125000;
532 /* 1kHz scans every USB frame */
533 err |= comedi_check_trigger_arg_min(&cmd->
537 tmp = (cmd->scan_begin_arg / 1000000) * 1000000;
539 err |= comedi_check_trigger_arg_is(&cmd->scan_begin_arg, tmp);
542 err |= comedi_check_trigger_arg_is(&cmd->scan_end_arg,
545 if (cmd->stop_src == TRIG_COUNT)
546 err |= comedi_check_trigger_arg_min(&cmd->stop_arg, 1);
548 err |= comedi_check_trigger_arg_is(&cmd->stop_arg, 0);
553 /* Step 4: fix up any arguments */
557 * every 2 channels get a time window of 125us. Thus, if we
558 * sample all 16 channels we need 1ms. If we sample only one
559 * channel we need only 125us
561 devpriv->ai_interval = interval;
562 devpriv->ai_timer = cmd->scan_begin_arg / (125000 * interval);
564 /* interval always 1ms */
565 devpriv->ai_interval = 1;
566 devpriv->ai_timer = cmd->scan_begin_arg / 1000000;
568 if (devpriv->ai_timer < 1)
578 * creates the ADC command for the MAX1271
579 * range is the range value from comedi
581 static void create_adc_command(unsigned int chan,
586 (*muxsg0) = (*muxsg0) | (1 << chan);
588 (*muxsg1) = (*muxsg1) | (1 << (chan-8));
591 static int usbbuxsigma_send_cmd(struct comedi_device *dev, int cmd_type)
593 struct usb_device *usb = comedi_to_usb_dev(dev);
594 struct usbduxsigma_private *devpriv = dev->private;
597 devpriv->dux_commands[0] = cmd_type;
599 return usb_bulk_msg(usb, usb_sndbulkpipe(usb, 1),
600 devpriv->dux_commands, SIZEOFDUXBUFFER,
601 &nsent, BULK_TIMEOUT);
604 static int usbduxsigma_receive_cmd(struct comedi_device *dev, int command)
606 struct usb_device *usb = comedi_to_usb_dev(dev);
607 struct usbduxsigma_private *devpriv = dev->private;
612 for (i = 0; i < RETRIES; i++) {
613 ret = usb_bulk_msg(usb, usb_rcvbulkpipe(usb, 8),
614 devpriv->insn_buf, SIZEINSNBUF,
615 &nrec, BULK_TIMEOUT);
619 if (devpriv->insn_buf[0] == command)
623 * This is only reached if the data has been requested a
624 * couple of times and the command was not received.
629 static int usbduxsigma_ai_inttrig(struct comedi_device *dev,
630 struct comedi_subdevice *s,
631 unsigned int trig_num)
633 struct usbduxsigma_private *devpriv = dev->private;
634 struct comedi_cmd *cmd = &s->async->cmd;
637 if (trig_num != cmd->start_arg)
641 if (!devpriv->ai_cmd_running) {
642 devpriv->ai_cmd_running = 1;
643 ret = usbduxsigma_submit_urbs(dev, devpriv->ai_urbs,
644 devpriv->n_ai_urbs, 1);
646 devpriv->ai_cmd_running = 0;
650 s->async->inttrig = NULL;
657 static int usbduxsigma_ai_cmd(struct comedi_device *dev,
658 struct comedi_subdevice *s)
660 struct usbduxsigma_private *devpriv = dev->private;
661 struct comedi_cmd *cmd = &s->async->cmd;
662 unsigned int len = cmd->chanlist_len;
671 for (i = 0; i < len; i++) {
672 unsigned int chan = CR_CHAN(cmd->chanlist[i]);
674 create_adc_command(chan, &muxsg0, &muxsg1);
677 devpriv->dux_commands[1] = len; /* num channels per time step */
678 devpriv->dux_commands[2] = 0x12; /* CONFIG0 */
679 devpriv->dux_commands[3] = 0x03; /* CONFIG1: 23kHz sample, delay 0us */
680 devpriv->dux_commands[4] = 0x00; /* CONFIG3: diff. channels off */
681 devpriv->dux_commands[5] = muxsg0;
682 devpriv->dux_commands[6] = muxsg1;
683 devpriv->dux_commands[7] = sysred;
685 ret = usbbuxsigma_send_cmd(dev, USBBUXSIGMA_AD_CMD);
691 devpriv->ai_counter = devpriv->ai_timer;
693 if (cmd->start_src == TRIG_NOW) {
694 /* enable this acquisition operation */
695 devpriv->ai_cmd_running = 1;
696 ret = usbduxsigma_submit_urbs(dev, devpriv->ai_urbs,
697 devpriv->n_ai_urbs, 1);
699 devpriv->ai_cmd_running = 0;
703 s->async->inttrig = NULL;
704 } else { /* TRIG_INT */
705 s->async->inttrig = usbduxsigma_ai_inttrig;
713 static int usbduxsigma_ai_insn_read(struct comedi_device *dev,
714 struct comedi_subdevice *s,
715 struct comedi_insn *insn,
718 struct usbduxsigma_private *devpriv = dev->private;
719 unsigned int chan = CR_CHAN(insn->chanspec);
727 if (devpriv->ai_cmd_running) {
732 create_adc_command(chan, &muxsg0, &muxsg1);
734 /* Mode 0 is used to get a single conversion on demand */
735 devpriv->dux_commands[1] = 0x16; /* CONFIG0: chopper on */
736 devpriv->dux_commands[2] = 0x80; /* CONFIG1: 2kHz sampling rate */
737 devpriv->dux_commands[3] = 0x00; /* CONFIG3: diff. channels off */
738 devpriv->dux_commands[4] = muxsg0;
739 devpriv->dux_commands[5] = muxsg1;
740 devpriv->dux_commands[6] = sysred;
743 ret = usbbuxsigma_send_cmd(dev, USBDUXSIGMA_SINGLE_AD_CMD);
749 for (i = 0; i < insn->n; i++) {
752 ret = usbduxsigma_receive_cmd(dev, USBDUXSIGMA_SINGLE_AD_CMD);
758 /* 32 bits big endian from the A/D converter */
759 val = be32_to_cpu(get_unaligned((__be32
760 *)(devpriv->insn_buf + 1)));
761 val &= 0x00ffffff; /* strip status byte */
762 val ^= 0x00800000; /* convert to unsigned */
771 static int usbduxsigma_ao_insn_read(struct comedi_device *dev,
772 struct comedi_subdevice *s,
773 struct comedi_insn *insn,
776 struct usbduxsigma_private *devpriv = dev->private;
780 ret = comedi_readback_insn_read(dev, s, insn, data);
786 static int usbduxsigma_ao_insn_write(struct comedi_device *dev,
787 struct comedi_subdevice *s,
788 struct comedi_insn *insn,
791 struct usbduxsigma_private *devpriv = dev->private;
792 unsigned int chan = CR_CHAN(insn->chanspec);
797 if (devpriv->ao_cmd_running) {
802 for (i = 0; i < insn->n; i++) {
803 devpriv->dux_commands[1] = 1; /* num channels */
804 devpriv->dux_commands[2] = data[i]; /* value */
805 devpriv->dux_commands[3] = chan; /* channel number */
806 ret = usbbuxsigma_send_cmd(dev, USBDUXSIGMA_DA_CMD);
811 s->readback[chan] = data[i];
818 static int usbduxsigma_ao_inttrig(struct comedi_device *dev,
819 struct comedi_subdevice *s,
820 unsigned int trig_num)
822 struct usbduxsigma_private *devpriv = dev->private;
823 struct comedi_cmd *cmd = &s->async->cmd;
826 if (trig_num != cmd->start_arg)
830 if (!devpriv->ao_cmd_running) {
831 devpriv->ao_cmd_running = 1;
832 ret = usbduxsigma_submit_urbs(dev, devpriv->ao_urbs,
833 devpriv->n_ao_urbs, 0);
835 devpriv->ao_cmd_running = 0;
839 s->async->inttrig = NULL;
846 static int usbduxsigma_ao_cmdtest(struct comedi_device *dev,
847 struct comedi_subdevice *s,
848 struct comedi_cmd *cmd)
850 struct usbduxsigma_private *devpriv = dev->private;
855 /* high speed conversions are not used yet */
856 high_speed = 0; /* (devpriv->high_speed) */
858 /* Step 1 : check if triggers are trivially valid */
860 err |= comedi_check_trigger_src(&cmd->start_src, TRIG_NOW | TRIG_INT);
864 * start immediately a new scan
865 * the sampling rate is set by the coversion rate
869 /* start a new scan (output at once) with a timer */
872 err |= comedi_check_trigger_src(&cmd->scan_begin_src, flags);
874 err |= comedi_check_trigger_src(&cmd->convert_src, TRIG_NOW);
875 err |= comedi_check_trigger_src(&cmd->scan_end_src, TRIG_COUNT);
876 err |= comedi_check_trigger_src(&cmd->stop_src, TRIG_COUNT | TRIG_NONE);
883 /* Step 2a : make sure trigger sources are unique */
885 err |= comedi_check_trigger_is_unique(cmd->start_src);
886 err |= comedi_check_trigger_is_unique(cmd->stop_src);
888 /* Step 2b : and mutually compatible */
893 /* Step 3: check if arguments are trivially valid */
895 err |= comedi_check_trigger_arg_is(&cmd->start_arg, 0);
897 if (cmd->scan_begin_src == TRIG_FOLLOW) /* internal trigger */
898 err |= comedi_check_trigger_arg_is(&cmd->scan_begin_arg, 0);
900 if (cmd->scan_begin_src == TRIG_TIMER) {
901 err |= comedi_check_trigger_arg_min(&cmd->scan_begin_arg,
905 /* not used now, is for later use */
906 if (cmd->convert_src == TRIG_TIMER)
907 err |= comedi_check_trigger_arg_min(&cmd->convert_arg, 125000);
909 err |= comedi_check_trigger_arg_is(&cmd->scan_end_arg,
912 if (cmd->stop_src == TRIG_COUNT)
913 err |= comedi_check_trigger_arg_min(&cmd->stop_arg, 1);
915 err |= comedi_check_trigger_arg_is(&cmd->stop_arg, 0);
920 /* Step 4: fix up any arguments */
922 /* we count in timer steps */
924 /* timing of the conversion itself: every 125 us */
925 devpriv->ao_timer = cmd->convert_arg / 125000;
928 * timing of the scan: every 1ms
929 * we get all channels at once
931 devpriv->ao_timer = cmd->scan_begin_arg / 1000000;
933 if (devpriv->ao_timer < 1)
942 static int usbduxsigma_ao_cmd(struct comedi_device *dev,
943 struct comedi_subdevice *s)
945 struct usbduxsigma_private *devpriv = dev->private;
946 struct comedi_cmd *cmd = &s->async->cmd;
951 devpriv->ao_counter = devpriv->ao_timer;
953 if (cmd->start_src == TRIG_NOW) {
954 /* enable this acquisition operation */
955 devpriv->ao_cmd_running = 1;
956 ret = usbduxsigma_submit_urbs(dev, devpriv->ao_urbs,
957 devpriv->n_ao_urbs, 0);
959 devpriv->ao_cmd_running = 0;
963 s->async->inttrig = NULL;
964 } else { /* TRIG_INT */
965 s->async->inttrig = usbduxsigma_ao_inttrig;
973 static int usbduxsigma_dio_insn_config(struct comedi_device *dev,
974 struct comedi_subdevice *s,
975 struct comedi_insn *insn,
980 ret = comedi_dio_insn_config(dev, s, insn, data, 0);
985 * We don't tell the firmware here as it would take 8 frames
986 * to submit the information. We do it in the (*insn_bits).
991 static int usbduxsigma_dio_insn_bits(struct comedi_device *dev,
992 struct comedi_subdevice *s,
993 struct comedi_insn *insn,
996 struct usbduxsigma_private *devpriv = dev->private;
1001 comedi_dio_update_state(s, data);
1003 /* Always update the hardware. See the (*insn_config). */
1004 devpriv->dux_commands[1] = s->io_bits & 0xff;
1005 devpriv->dux_commands[4] = s->state & 0xff;
1006 devpriv->dux_commands[2] = (s->io_bits >> 8) & 0xff;
1007 devpriv->dux_commands[5] = (s->state >> 8) & 0xff;
1008 devpriv->dux_commands[3] = (s->io_bits >> 16) & 0xff;
1009 devpriv->dux_commands[6] = (s->state >> 16) & 0xff;
1011 ret = usbbuxsigma_send_cmd(dev, USBDUXSIGMA_DIO_BITS_CMD);
1014 ret = usbduxsigma_receive_cmd(dev, USBDUXSIGMA_DIO_BITS_CMD);
1018 s->state = devpriv->insn_buf[1] |
1019 (devpriv->insn_buf[2] << 8) |
1020 (devpriv->insn_buf[3] << 16);
1031 static void usbduxsigma_pwm_stop(struct comedi_device *dev, int do_unlink)
1033 struct usbduxsigma_private *devpriv = dev->private;
1036 if (devpriv->pwm_urb)
1037 usb_kill_urb(devpriv->pwm_urb);
1040 devpriv->pwm_cmd_running = 0;
1043 static int usbduxsigma_pwm_cancel(struct comedi_device *dev,
1044 struct comedi_subdevice *s)
1046 struct usbduxsigma_private *devpriv = dev->private;
1048 /* unlink only if it is really running */
1049 usbduxsigma_pwm_stop(dev, devpriv->pwm_cmd_running);
1051 return usbbuxsigma_send_cmd(dev, USBDUXSIGMA_PWM_OFF_CMD);
1054 static void usbduxsigma_pwm_urb_complete(struct urb *urb)
1056 struct comedi_device *dev = urb->context;
1057 struct usbduxsigma_private *devpriv = dev->private;
1060 switch (urb->status) {
1069 /* happens after an unlink command */
1070 if (devpriv->pwm_cmd_running)
1071 usbduxsigma_pwm_stop(dev, 0); /* w/o unlink */
1076 if (devpriv->pwm_cmd_running) {
1077 dev_err(dev->class_dev, "non-zero urb status (%d)\n",
1079 usbduxsigma_pwm_stop(dev, 0); /* w/o unlink */
1084 if (!devpriv->pwm_cmd_running)
1087 urb->transfer_buffer_length = devpriv->pwm_buf_sz;
1088 urb->dev = comedi_to_usb_dev(dev);
1090 ret = usb_submit_urb(urb, GFP_ATOMIC);
1092 dev_err(dev->class_dev, "urb resubmit failed (%d)\n", ret);
1093 if (ret == -EL2NSYNC)
1094 dev_err(dev->class_dev,
1095 "buggy USB host controller or bug in IRQ handler\n");
1096 usbduxsigma_pwm_stop(dev, 0); /* w/o unlink */
1100 static int usbduxsigma_submit_pwm_urb(struct comedi_device *dev)
1102 struct usb_device *usb = comedi_to_usb_dev(dev);
1103 struct usbduxsigma_private *devpriv = dev->private;
1104 struct urb *urb = devpriv->pwm_urb;
1106 /* in case of a resubmission after an unlink... */
1107 usb_fill_bulk_urb(urb, usb, usb_sndbulkpipe(usb, 4),
1108 urb->transfer_buffer, devpriv->pwm_buf_sz,
1109 usbduxsigma_pwm_urb_complete, dev);
1111 return usb_submit_urb(urb, GFP_ATOMIC);
1114 static int usbduxsigma_pwm_period(struct comedi_device *dev,
1115 struct comedi_subdevice *s,
1116 unsigned int period)
1118 struct usbduxsigma_private *devpriv = dev->private;
1121 if (period < MIN_PWM_PERIOD)
1124 fx2delay = (period / (6 * 512 * 1000 / 33)) - 6;
1128 devpriv->pwm_delay = fx2delay;
1129 devpriv->pwm_period = period;
1133 static int usbduxsigma_pwm_start(struct comedi_device *dev,
1134 struct comedi_subdevice *s)
1136 struct usbduxsigma_private *devpriv = dev->private;
1139 if (devpriv->pwm_cmd_running)
1142 devpriv->dux_commands[1] = devpriv->pwm_delay;
1143 ret = usbbuxsigma_send_cmd(dev, USBDUXSIGMA_PWM_ON_CMD);
1147 memset(devpriv->pwm_urb->transfer_buffer, 0, devpriv->pwm_buf_sz);
1149 devpriv->pwm_cmd_running = 1;
1150 ret = usbduxsigma_submit_pwm_urb(dev);
1152 devpriv->pwm_cmd_running = 0;
1159 static void usbduxsigma_pwm_pattern(struct comedi_device *dev,
1160 struct comedi_subdevice *s,
1165 struct usbduxsigma_private *devpriv = dev->private;
1166 char pwm_mask = (1 << chan); /* DIO bit for the PWM data */
1167 char sgn_mask = (16 << chan); /* DIO bit for the sign */
1168 char *buf = (char *)(devpriv->pwm_urb->transfer_buffer);
1169 int szbuf = devpriv->pwm_buf_sz;
1172 for (i = 0; i < szbuf; i++) {
1186 static int usbduxsigma_pwm_write(struct comedi_device *dev,
1187 struct comedi_subdevice *s,
1188 struct comedi_insn *insn,
1191 unsigned int chan = CR_CHAN(insn->chanspec);
1194 * It doesn't make sense to support more than one value here
1195 * because it would just overwrite the PWM buffer.
1201 * The sign is set via a special INSN only, this gives us 8 bits
1202 * for normal operation, sign is 0 by default.
1204 usbduxsigma_pwm_pattern(dev, s, chan, data[0], 0);
1209 static int usbduxsigma_pwm_config(struct comedi_device *dev,
1210 struct comedi_subdevice *s,
1211 struct comedi_insn *insn,
1214 struct usbduxsigma_private *devpriv = dev->private;
1215 unsigned int chan = CR_CHAN(insn->chanspec);
1218 case INSN_CONFIG_ARM:
1220 * if not zero the PWM is limited to a certain time which is
1221 * not supported here
1225 return usbduxsigma_pwm_start(dev, s);
1226 case INSN_CONFIG_DISARM:
1227 return usbduxsigma_pwm_cancel(dev, s);
1228 case INSN_CONFIG_GET_PWM_STATUS:
1229 data[1] = devpriv->pwm_cmd_running;
1231 case INSN_CONFIG_PWM_SET_PERIOD:
1232 return usbduxsigma_pwm_period(dev, s, data[1]);
1233 case INSN_CONFIG_PWM_GET_PERIOD:
1234 data[1] = devpriv->pwm_period;
1236 case INSN_CONFIG_PWM_SET_H_BRIDGE:
1239 * data[2] = sign (for a relay)
1241 usbduxsigma_pwm_pattern(dev, s, chan, data[1], (data[2] != 0));
1243 case INSN_CONFIG_PWM_GET_H_BRIDGE:
1244 /* values are not kept in this driver, nothing to return */
1250 static int usbduxsigma_getstatusinfo(struct comedi_device *dev, int chan)
1252 struct usbduxsigma_private *devpriv = dev->private;
1260 sysred = 0; /* ADC zero */
1263 sysred = 1; /* ADC offset */
1266 sysred = 4; /* VCC */
1269 sysred = 8; /* temperature */
1272 sysred = 16; /* gain */
1275 sysred = 32; /* ref */
1279 devpriv->dux_commands[1] = 0x12; /* CONFIG0 */
1280 devpriv->dux_commands[2] = 0x80; /* CONFIG1: 2kHz sampling rate */
1281 devpriv->dux_commands[3] = 0x00; /* CONFIG3: diff. channels off */
1282 devpriv->dux_commands[4] = 0;
1283 devpriv->dux_commands[5] = 0;
1284 devpriv->dux_commands[6] = sysred;
1285 ret = usbbuxsigma_send_cmd(dev, USBDUXSIGMA_SINGLE_AD_CMD);
1289 ret = usbduxsigma_receive_cmd(dev, USBDUXSIGMA_SINGLE_AD_CMD);
1293 /* 32 bits big endian from the A/D converter */
1294 val = be32_to_cpu(get_unaligned((__be32 *)(devpriv->insn_buf + 1)));
1295 val &= 0x00ffffff; /* strip status byte */
1296 val ^= 0x00800000; /* convert to unsigned */
1301 static int usbduxsigma_firmware_upload(struct comedi_device *dev,
1302 const u8 *data, size_t size,
1303 unsigned long context)
1305 struct usb_device *usb = comedi_to_usb_dev(dev);
1313 if (size > FIRMWARE_MAX_LEN) {
1314 dev_err(dev->class_dev, "firmware binary too large for FX2\n");
1318 /* we generate a local buffer for the firmware */
1319 buf = kmemdup(data, size, GFP_KERNEL);
1323 /* we need a malloc'ed buffer for usb_control_msg() */
1324 tmp = kmalloc(1, GFP_KERNEL);
1330 /* stop the current firmware on the device */
1331 *tmp = 1; /* 7f92 to one */
1332 ret = usb_control_msg(usb, usb_sndctrlpipe(usb, 0),
1335 USBDUXSUB_CPUCS, 0x0000,
1339 dev_err(dev->class_dev, "can not stop firmware\n");
1343 /* upload the new firmware to the device */
1344 ret = usb_control_msg(usb, usb_sndctrlpipe(usb, 0),
1351 dev_err(dev->class_dev, "firmware upload failed\n");
1355 /* start the new firmware on the device */
1356 *tmp = 0; /* 7f92 to zero */
1357 ret = usb_control_msg(usb, usb_sndctrlpipe(usb, 0),
1360 USBDUXSUB_CPUCS, 0x0000,
1364 dev_err(dev->class_dev, "can not start firmware\n");
1372 static int usbduxsigma_alloc_usb_buffers(struct comedi_device *dev)
1374 struct usb_device *usb = comedi_to_usb_dev(dev);
1375 struct usbduxsigma_private *devpriv = dev->private;
1379 devpriv->dux_commands = kzalloc(SIZEOFDUXBUFFER, GFP_KERNEL);
1380 devpriv->in_buf = kzalloc(SIZEINBUF, GFP_KERNEL);
1381 devpriv->insn_buf = kzalloc(SIZEINSNBUF, GFP_KERNEL);
1382 devpriv->ai_urbs = kcalloc(devpriv->n_ai_urbs, sizeof(urb), GFP_KERNEL);
1383 devpriv->ao_urbs = kcalloc(devpriv->n_ao_urbs, sizeof(urb), GFP_KERNEL);
1384 if (!devpriv->dux_commands || !devpriv->in_buf || !devpriv->insn_buf ||
1385 !devpriv->ai_urbs || !devpriv->ao_urbs)
1388 for (i = 0; i < devpriv->n_ai_urbs; i++) {
1389 /* one frame: 1ms */
1390 urb = usb_alloc_urb(1, GFP_KERNEL);
1393 devpriv->ai_urbs[i] = urb;
1395 /* will be filled later with a pointer to the comedi-device */
1396 /* and ONLY then the urb should be submitted */
1397 urb->context = NULL;
1398 urb->pipe = usb_rcvisocpipe(usb, 6);
1399 urb->transfer_flags = URB_ISO_ASAP;
1400 urb->transfer_buffer = kzalloc(SIZEINBUF, GFP_KERNEL);
1401 if (!urb->transfer_buffer)
1403 urb->complete = usbduxsigma_ai_urb_complete;
1404 urb->number_of_packets = 1;
1405 urb->transfer_buffer_length = SIZEINBUF;
1406 urb->iso_frame_desc[0].offset = 0;
1407 urb->iso_frame_desc[0].length = SIZEINBUF;
1410 for (i = 0; i < devpriv->n_ao_urbs; i++) {
1411 /* one frame: 1ms */
1412 urb = usb_alloc_urb(1, GFP_KERNEL);
1415 devpriv->ao_urbs[i] = urb;
1417 /* will be filled later with a pointer to the comedi-device */
1418 /* and ONLY then the urb should be submitted */
1419 urb->context = NULL;
1420 urb->pipe = usb_sndisocpipe(usb, 2);
1421 urb->transfer_flags = URB_ISO_ASAP;
1422 urb->transfer_buffer = kzalloc(SIZEOUTBUF, GFP_KERNEL);
1423 if (!urb->transfer_buffer)
1425 urb->complete = usbduxsigma_ao_urb_complete;
1426 urb->number_of_packets = 1;
1427 urb->transfer_buffer_length = SIZEOUTBUF;
1428 urb->iso_frame_desc[0].offset = 0;
1429 urb->iso_frame_desc[0].length = SIZEOUTBUF;
1430 if (devpriv->high_speed)
1431 urb->interval = 8; /* uframes */
1433 urb->interval = 1; /* frames */
1436 if (devpriv->pwm_buf_sz) {
1437 urb = usb_alloc_urb(0, GFP_KERNEL);
1440 devpriv->pwm_urb = urb;
1442 urb->transfer_buffer = kzalloc(devpriv->pwm_buf_sz,
1444 if (!urb->transfer_buffer)
1451 static void usbduxsigma_free_usb_buffers(struct comedi_device *dev)
1453 struct usbduxsigma_private *devpriv = dev->private;
1457 urb = devpriv->pwm_urb;
1459 kfree(urb->transfer_buffer);
1462 if (devpriv->ao_urbs) {
1463 for (i = 0; i < devpriv->n_ao_urbs; i++) {
1464 urb = devpriv->ao_urbs[i];
1466 kfree(urb->transfer_buffer);
1470 kfree(devpriv->ao_urbs);
1472 if (devpriv->ai_urbs) {
1473 for (i = 0; i < devpriv->n_ai_urbs; i++) {
1474 urb = devpriv->ai_urbs[i];
1476 kfree(urb->transfer_buffer);
1480 kfree(devpriv->ai_urbs);
1482 kfree(devpriv->insn_buf);
1483 kfree(devpriv->in_buf);
1484 kfree(devpriv->dux_commands);
1487 static int usbduxsigma_auto_attach(struct comedi_device *dev,
1488 unsigned long context_unused)
1490 struct usb_interface *intf = comedi_to_usb_interface(dev);
1491 struct usb_device *usb = comedi_to_usb_dev(dev);
1492 struct usbduxsigma_private *devpriv;
1493 struct comedi_subdevice *s;
1497 devpriv = comedi_alloc_devpriv(dev, sizeof(*devpriv));
1501 sema_init(&devpriv->sem, 1);
1503 usb_set_intfdata(intf, devpriv);
1505 devpriv->high_speed = (usb->speed == USB_SPEED_HIGH);
1506 if (devpriv->high_speed) {
1507 devpriv->n_ai_urbs = NUMOFINBUFFERSHIGH;
1508 devpriv->n_ao_urbs = NUMOFOUTBUFFERSHIGH;
1509 devpriv->pwm_buf_sz = 512;
1511 devpriv->n_ai_urbs = NUMOFINBUFFERSFULL;
1512 devpriv->n_ao_urbs = NUMOFOUTBUFFERSFULL;
1515 ret = usbduxsigma_alloc_usb_buffers(dev);
1519 /* setting to alternate setting 3: enabling iso ep and bulk ep. */
1520 ret = usb_set_interface(usb, intf->altsetting->desc.bInterfaceNumber,
1523 dev_err(dev->class_dev,
1524 "could not set alternate setting 3 in high speed\n");
1528 ret = comedi_load_firmware(dev, &usb->dev, FIRMWARE,
1529 usbduxsigma_firmware_upload, 0);
1533 ret = comedi_alloc_subdevices(dev, (devpriv->high_speed) ? 4 : 3);
1537 /* Analog Input subdevice */
1538 s = &dev->subdevices[0];
1539 dev->read_subdev = s;
1540 s->type = COMEDI_SUBD_AI;
1541 s->subdev_flags = SDF_READABLE | SDF_GROUND | SDF_CMD_READ | SDF_LSAMPL;
1542 s->n_chan = NUMCHANNELS;
1543 s->len_chanlist = NUMCHANNELS;
1544 s->maxdata = 0x00ffffff;
1545 s->range_table = &usbduxsigma_ai_range;
1546 s->insn_read = usbduxsigma_ai_insn_read;
1547 s->do_cmdtest = usbduxsigma_ai_cmdtest;
1548 s->do_cmd = usbduxsigma_ai_cmd;
1549 s->cancel = usbduxsigma_ai_cancel;
1551 /* Analog Output subdevice */
1552 s = &dev->subdevices[1];
1553 dev->write_subdev = s;
1554 s->type = COMEDI_SUBD_AO;
1555 s->subdev_flags = SDF_WRITABLE | SDF_GROUND | SDF_CMD_WRITE;
1557 s->len_chanlist = s->n_chan;
1558 s->maxdata = 0x00ff;
1559 s->range_table = &range_unipolar2_5;
1560 s->insn_write = usbduxsigma_ao_insn_write;
1561 s->insn_read = usbduxsigma_ao_insn_read;
1562 s->do_cmdtest = usbduxsigma_ao_cmdtest;
1563 s->do_cmd = usbduxsigma_ao_cmd;
1564 s->cancel = usbduxsigma_ao_cancel;
1566 ret = comedi_alloc_subdev_readback(s);
1570 /* Digital I/O subdevice */
1571 s = &dev->subdevices[2];
1572 s->type = COMEDI_SUBD_DIO;
1573 s->subdev_flags = SDF_READABLE | SDF_WRITABLE;
1576 s->range_table = &range_digital;
1577 s->insn_bits = usbduxsigma_dio_insn_bits;
1578 s->insn_config = usbduxsigma_dio_insn_config;
1580 if (devpriv->high_speed) {
1581 /* Timer / pwm subdevice */
1582 s = &dev->subdevices[3];
1583 s->type = COMEDI_SUBD_PWM;
1584 s->subdev_flags = SDF_WRITABLE | SDF_PWM_HBRIDGE;
1586 s->maxdata = devpriv->pwm_buf_sz;
1587 s->insn_write = usbduxsigma_pwm_write;
1588 s->insn_config = usbduxsigma_pwm_config;
1590 usbduxsigma_pwm_period(dev, s, PWM_DEFAULT_PERIOD);
1593 offset = usbduxsigma_getstatusinfo(dev, 0);
1595 dev_err(dev->class_dev,
1596 "Communication to USBDUXSIGMA failed! Check firmware and cabling.\n");
1600 dev_info(dev->class_dev, "ADC_zero = %x\n", offset);
1605 static void usbduxsigma_detach(struct comedi_device *dev)
1607 struct usb_interface *intf = comedi_to_usb_interface(dev);
1608 struct usbduxsigma_private *devpriv = dev->private;
1610 usb_set_intfdata(intf, NULL);
1615 down(&devpriv->sem);
1617 /* force unlink all urbs */
1618 usbduxsigma_ai_stop(dev, 1);
1619 usbduxsigma_ao_stop(dev, 1);
1620 usbduxsigma_pwm_stop(dev, 1);
1622 usbduxsigma_free_usb_buffers(dev);
1627 static struct comedi_driver usbduxsigma_driver = {
1628 .driver_name = "usbduxsigma",
1629 .module = THIS_MODULE,
1630 .auto_attach = usbduxsigma_auto_attach,
1631 .detach = usbduxsigma_detach,
1634 static int usbduxsigma_usb_probe(struct usb_interface *intf,
1635 const struct usb_device_id *id)
1637 return comedi_usb_auto_config(intf, &usbduxsigma_driver, 0);
1640 static const struct usb_device_id usbduxsigma_usb_table[] = {
1641 { USB_DEVICE(0x13d8, 0x0020) },
1642 { USB_DEVICE(0x13d8, 0x0021) },
1643 { USB_DEVICE(0x13d8, 0x0022) },
1646 MODULE_DEVICE_TABLE(usb, usbduxsigma_usb_table);
1648 static struct usb_driver usbduxsigma_usb_driver = {
1649 .name = "usbduxsigma",
1650 .probe = usbduxsigma_usb_probe,
1651 .disconnect = comedi_usb_auto_unconfig,
1652 .id_table = usbduxsigma_usb_table,
1654 module_comedi_usb_driver(usbduxsigma_driver, usbduxsigma_usb_driver);
1656 MODULE_AUTHOR("Bernd Porr, BerndPorr@f2s.com");
1657 MODULE_DESCRIPTION("Stirling/ITL USB-DUX SIGMA -- Bernd.Porr@f2s.com");
1658 MODULE_LICENSE("GPL");
1659 MODULE_FIRMWARE(FIRMWARE);